JP2022550061A - 器具を保持する関節アーム付きのロボット手術介入装置 - Google Patents
器具を保持する関節アーム付きのロボット手術介入装置 Download PDFInfo
- Publication number
- JP2022550061A JP2022550061A JP2022519128A JP2022519128A JP2022550061A JP 2022550061 A JP2022550061 A JP 2022550061A JP 2022519128 A JP2022519128 A JP 2022519128A JP 2022519128 A JP2022519128 A JP 2022519128A JP 2022550061 A JP2022550061 A JP 2022550061A
- Authority
- JP
- Japan
- Prior art keywords
- surgical instrument
- coordinate system
- commands
- articulated arm
- robotic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000011477 surgical intervention Methods 0.000 title claims abstract description 32
- 230000002093 peripheral effect Effects 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000013519 translation Methods 0.000 claims abstract description 8
- 210000003027 ear inner Anatomy 0.000 claims description 7
- 210000000959 ear middle Anatomy 0.000 claims description 7
- 230000015654 memory Effects 0.000 claims description 7
- 238000012217 deletion Methods 0.000 claims description 2
- 230000037430 deletion Effects 0.000 claims description 2
- 230000001131 transforming effect Effects 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims 1
- 230000002401 inhibitory effect Effects 0.000 abstract 1
- 238000004590 computer program Methods 0.000 description 23
- 230000009466 transformation Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 238000000844 transformation Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45119—Telesurgery with local assistent, voice communication
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1910553 | 2019-09-24 | ||
| FR1910553A FR3100970B1 (fr) | 2019-09-24 | 2019-09-24 | Dispositif robotisé d’intervention chirurgicale à bras articulé porteur d’un instrument |
| PCT/FR2020/051636 WO2021058899A1 (fr) | 2019-09-24 | 2020-09-21 | Dispositif robotisé d'intervention chirurgicale à bras articulé porteur d'un instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2022550061A true JP2022550061A (ja) | 2022-11-30 |
Family
ID=69468696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2022519128A Pending JP2022550061A (ja) | 2019-09-24 | 2020-09-21 | 器具を保持する関節アーム付きのロボット手術介入装置 |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US20220331031A1 (fr) |
| EP (1) | EP4034026A1 (fr) |
| JP (1) | JP2022550061A (fr) |
| KR (1) | KR20220069070A (fr) |
| CN (1) | CN114760950A (fr) |
| AU (1) | AU2020356425A1 (fr) |
| CA (1) | CA3152347A1 (fr) |
| FR (1) | FR3100970B1 (fr) |
| WO (1) | WO2021058899A1 (fr) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20230102975A (ko) * | 2021-12-30 | 2023-07-07 | 엘지디스플레이 주식회사 | 표시 장치 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009500086A (ja) * | 2005-07-01 | 2009-01-08 | ハンセン メディカル，インク． | ロボットガイドカテーテルシステム |
| GB0521281D0 (en) * | 2005-10-19 | 2005-11-30 | Acrobat Company The Ltd | hybrid constrant mechanism |
| US9492927B2 (en) * | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
| US9539726B2 (en) * | 2012-04-20 | 2017-01-10 | Vanderbilt University | Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots |
| FR2998344B1 (fr) | 2012-11-22 | 2017-05-19 | Collin | Systeme de verrouillage d'un raccordement d'elements a embouts male et femelle |
| CN108601925B (zh) * | 2015-12-04 | 2021-06-29 | 项目莫里股份有限公司 | 用于导管和其他用途的输入和铰接系统 |
| US11596486B2 (en) * | 2016-06-09 | 2023-03-07 | Intuitive Surgical Operations, Inc. | Computer-assisted tele-operated surgery systems and methods |
| KR102438357B1 (ko) * | 2016-07-01 | 2022-09-01 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 컴퓨터 보조 의료 시스템 및 방법 |
| FR3066378B1 (fr) | 2017-05-18 | 2021-12-24 | Collin | Instrument chirurgical a portions deviees et installation robotisee comportant un tel instrument |
-
2019
- 2019-09-24 FR FR1910553A patent/FR3100970B1/fr active Active
-
2020
- 2020-09-21 JP JP2022519128A patent/JP2022550061A/ja active Pending
- 2020-09-21 CN CN202080075303.3A patent/CN114760950A/zh active Pending
- 2020-09-21 CA CA3152347A patent/CA3152347A1/fr active Pending
- 2020-09-21 WO PCT/FR2020/051636 patent/WO2021058899A1/fr unknown
- 2020-09-21 KR KR1020227013634A patent/KR20220069070A/ko active Search and Examination
- 2020-09-21 US US17/763,066 patent/US20220331031A1/en active Pending
- 2020-09-21 AU AU2020356425A patent/AU2020356425A1/en active Pending
- 2020-09-21 EP EP20785551.1A patent/EP4034026A1/fr active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CA3152347A1 (fr) | 2021-04-01 |
| EP4034026A1 (fr) | 2022-08-03 |
| KR20220069070A (ko) | 2022-05-26 |
| US20220331031A1 (en) | 2022-10-20 |
| FR3100970A1 (fr) | 2021-03-26 |
| WO2021058899A1 (fr) | 2021-04-01 |
| CN114760950A (zh) | 2022-07-15 |
| FR3100970B1 (fr) | 2021-08-27 |
| AU2020356425A1 (en) | 2022-05-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230904 |
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| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20240319 |
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| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20240419 |